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STANDARD FRAMEWORK REGULATION IN WHICH SINGULARITY SUBSTANCES IN THE CONTROL MOMENT GUARANTEE ARRANGEMENT ARRANGEMENT ARE SUPPORTED
STANDARD FRAMEWORK REGULATION IN WHICH SINGULARITY SUBSTANCES IN THE CONTROL MOMENT GUARANTEE ARRANGEMENT ARRANGEMENT ARE SUPPORTED
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机译:支持控制矩保证安排安排中的唯一性标准的标准框架调整
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摘要
A system for avoiding singularities in a control moment gyro (CMG) array of a satellite uses closed and open loop control of the CMGs for reorientation of the satellite. A control system detects when closed loop control according to pseudo inverse rules will cause a singularity and issues a signal. The CMGs are then controlled open loop to avoid the singularity. The pseudo inverse singularity problem arises where there are more actuators than dimensions in the controlled space. Accordingly, the invention may also be used in a robotic arm manipulator.
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